Articulating joint solar panel array

ABSTRACT

Systems and methods for providing and controlling solar panel arrays are provided. The solar panel array may include one or more articulating joints that may provide variability in the arrangement of solar panels, which may allow the solar panel array to be distributed over varying types of underlying surfaces. The articulating joints may allow orientations of solar panels to be different relative to one another. The articulating joints may convey rotational force across the joints, so that a rotational force used to drive a first solar panel may also be conveyed across the joint and used to drive a second solar panel. The controls system may include row-specific semi-autonomous, or autonomous, controllers as well as controllers to interface with multiple rows. The controllers may include sensors to measure system power generation and basic operations aspects of the solar field to directly measure, or infer, module shading within the solar field. The controller may use this shading and operations data to identify shading, mitigate shading, identify methods to increase power generation, and identify optimum tilt angles for the tracker rows.

CROSS-REFERENCE

This application is a continuation of U.S. patent application Ser. No.15/533,189, filed Jun. 5, 2017, which is the U.S. National Phaseapplication under 35 U.S.C. 371 of PCT/US2015/065382, filed Dec. 11,2015, which claims the benefit of U.S. Provisional Application No.62/091,385, filed Dec. 12, 2014, all of which are incorporated herein byreference in their entirety.

BACKGROUND OF THE INVENTION

An area of ongoing research and development is solar energy. Inparticular solar farms containing a large number of solar panel arrayshave been developed. Two types of mounting systems are widely used formounting solar panels. Fixed tilt solar panel array mounting structuresaccount for 66% of utility-scale solar panel installations today. Fixedtilt panel mounting structures are advantageous in that they requirelittle to no grading in order to install them. Fixed tilt solar panelmounting structures are disadvantageous in that they do not rotate thepanels to follow the movement of the sun to increase the amount of powerthe solar panels generate. Single axis tracker solar panel mountingstructures account for 33% of utility-scale solar panel installationstoday. Single axis tracker solar panel mounting structures areadvantageous in that they rotate the panels to follow the movement ofthe sun to increase the maximum quantity of power the solar panelsgenerate. Single axis tracker solar panel mounting structures aredisadvantageous in that they require significant grading and arelatively flat parcel of land in order to install them. There thereforeexists a need for a solar panel mounting structure that can be installedon sloped and rolling terrain and rotate solar panels in order toincrease the amount of power that the solar panels generate.

Other limitations of the relevant art will become apparent to those ofskill in the art upon a reading of the specification and a study of thedrawings.

SUMMARY OF THE INVENTION

The following implementations and aspects thereof are described andillustrated in conjunction with system, tools, and methods that aremeant to be exemplary and illustrative, not necessarily limiting in thescope. In various implementations one or more of the above-describedproblems have been addressed, while other implementations are directedto other improvements.

In various implementations, articulating joint solar panel single axistracker mounting structures and systems and methods for controllingpositioning of the articulating joint solar panel mounting structures. Asolar panel mounting structure may include an articulating joint thatmay provide flexibility in how solar panels are arranged within asystem. This may advantageously permit the solar panels to be easilyarranged on various types of terrain or terrain with different grades.This flexibility may allow solar panel power plants to be distributed toa wider range of locations and at desired densities. An articulatingjoint may permit solar panel supports to be arranged at varyingorientations relative to one another. The articulating joint may alsopermit rotation of a first solar panel support to be conveyed to asecond solar panel support, which may allow for desired trackingproperties for corresponding solar panels.

An aspect of the invention is directed to a solar panel assemblycomprising: a first solar panel support configured to support a firstsolar panel capable of rotating about at least one axis; a second solarpanel support configured to support a second solar panel capable ofrotating about at least one axis; and an articulating joint configuredto connect the first solar panel support and the second solar panelsupport in a manner that permits a variable orientation of the firstsolar panel support relative to the second solar panel support.

Further aspects of the invention may be directed to an articulatingjoint for connecting a plurality of solar panel supports, said jointcomprising: a first interface configured to couple to a first solarpanel support configured to support a first solar panel capable ofrotating about at least one axis; and a second interface configured tocouple to a second solar panel support configured to support a secondsolar panel capable of rotating about at least one axis, wherein thefirst and second interfaces are configured to permit variableorientation of the first solar panel support relative to the secondsolar panel support.

A method for controlling movement of solar panels within a solar panelassembly may be provided in accordance with an additional aspect of theinvention. The method may comprise: providing a first solar panelsupport configured to support a first solar panel capable of rotatingabout at least one axis; providing a second solar panel supportconfigured to support a second solar panel capable of rotating about atleast one axis; and connecting the first solar panel support and thesecond solar panel support using an articulating joint that permits avariable orientation of the first solar panel support relative to thesecond solar panel support.

Additional aspects and advantages of the present disclosure will becomereadily apparent to those skilled in this art from the followingdetailed description, wherein only illustrative embodiments of thepresent disclosure are shown and described. As will be realized, thepresent disclosure is capable of other and different embodiments, andits several details are capable of modifications in various obviousrespects, all without departing from the disclosure. Accordingly, thedrawings and description are to be regarded as illustrative in nature,and not as restrictive.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings (also “figure” and “FIG.” herein), of which:

FIG. 1 depicts a diagram of an example of a system for controlling anarticulating joint solar panel array.

FIG. 2 depicts a flowchart of an example of a method for controllingdisplacement of a solar panel array of an articulating joint solar panelarray.

FIG. 3 depicts a schematic of a solar panel array within an environment.

FIG. 4 shows a schematic of degrees of freedom for an articulatingjoint.

FIG. 5 shows a schematic of a solar panel with a variable position.

FIG. 6 shows an example of a solar panel array with an articulatingjoint.

FIG. 7 shows an example of an articulating joint.

FIG. 8 shows an example of a solar panel array control system that maybe in communication with a solar panel array.

DETAILED DESCRIPTION OF THE INVENTION

While various embodiments of the invention have been shown and describedherein, it will be obvious to those skilled in the art that suchembodiments are provided by way of example only. Numerous variations,changes, and substitutions may occur to those skilled in the art withoutdeparting from the invention. It should be understood that variousalternatives to the embodiments of the invention described herein may beemployed.

A solar panel array may be provided, which may be used to transformsolar energy into electrical energy. The solar panel array may includeone or more solar panels that may be supported using one or more solarpanel support structures. The solar panels may move, which may allow foreffective capture of solar energy. A solar panel array may include anarticulating joint that may permit variation in how the solar panelsupport structures are arranged. This may allow for the accommodation ofdifferent types of terrain or land formations on which the solar panelarray may be disposed.

A solar panel array control system may be provided, which may controloperation of one or more solar panels in the solar array. Operation ofthe one or more solar panels may include positioning of the one or moresolar panels. For example, the solar panel array control system maycontrol an orientation of one or more solar panels. The control systemmay send signals to a solar panel supporting structure, which may affectthe position of the one or more solar panels. The articulating joint maybe capable of allowing a position of a solar panel to be controlled fromthe control system.

FIG. 1 depicts a diagram of an example of a system for controlling anarticulating joint solar panel array. The system of the example of FIG.1 may include a computer-readable medium 102, an articulating jointsolar panel array 104, and an articulating joint solar panel arraycontrol system 106.

In the example system shown in FIG. 1 , the articulating joint solarpanel array 104 and the articulating joint solar panel array controlsystem 106 are coupled to each other through the computer-readablemedium 102. The computer-readable medium may be non-transitory computerreadable medium or tangible computer readable medium. Known statutorycomputer-readable mediums include hardware (e.g., registers, randomaccess memory (RAM), non-volatile (NV) storage, to name a few), but mayor may not be limited to hardware. The computer readable medium maycomprise code, logic or instructions for performing one or more stepsthat may be described elsewhere herein.

The computer-readable medium 102 may represent a variety of potentiallyapplicable technologies. For example, the computer-readable medium 102can be used to form a network or part of a network. Where two componentsare co-located on a device, the computer-readable medium 102 can includea bus or other data conduit or plane. Where a first component isco-located on one device and a second component is located on adifferent device, the computer-readable medium 102 can include awireless or wired back-end network or LAN. The computer-readable medium102 can also encompass a relevant portion of a WAN or other network, ifapplicable. Depending upon implementation-specific or otherconsiderations, the computer-readable medium 102 can include a portionof an applicable low power wireless mesh network, such as ZigBee® whichis based on the IEEE 802.15.4 standard, hereby incorporated byreference.

The computer-readable medium 102, the articulating joint solar panelarray control system 106, and any other systems or devices described inthis paper can be implemented as a computer system of parts of acomputer system or a plurality of computer systems. A computer systemmay include a processor, memory, non-volatile storage, and an interface.A typical computer system may include at least one or more of thefollowing: a processor, memory, a general-purpose central processingunit (CPU), such as a microprocessor, or a special-purpose processor,such as a microcontroller.

The memory can include, by way of example but not limitation, randomaccess memory (RAM), such as dynamic RAM (DRAM) and static RAM (SRAM).The memory can be local, remote, or distributed. The bus can also couplethe processor to non-volatile storage. The non-volatile storage is oftena magnetic floppy or hard disk, a magnetic-optical disk, an opticaldisk, a read-only memory (ROM), such as a CD-ROM, EPROM, or EEPROM, amagnetic or optical card, or another form of storage for large amountsof data. Some of this data is often written, by a direct memory accessprocess, into memory during execution of software on the computersystem. The non-volatile storage can be local, remote, or distributed.The non-volatile storage is optional because systems can be created withall applicable data available in memory.

Software may be stored in the non-volatile storage. Indeed, for largeprograms, it may not even be possible to store the entire program in thememory. Nevertheless, it should be understood that for software to run,if necessary, it is moved to a computer-readable location appropriatefor processing, and for illustrative purposes, that location is referredto as the memory in this paper. Even when software is moved to thememory for execution, the processor may make use of hardware registersto store values associated with the software, and local cache that,ideally, serves to speed up execution. A software program may be assumedto be stored at an applicable known or convenient location (fromnon-volatile storage to hardware registers) when the software program isreferred to as “implemented in a computer-readable storage medium.” Aprocessor is considered to be “configured to execute a program” when atleast one value associated with the program is stored in a registerreadable by the processor.

In one example of operation, a computer system can be controlled byoperating system software, which is a software program that includes afile management system, such as a disk operating system. One example ofoperating system software with associated file management systemsoftware is the family of operating systems known as Windows® fromMicrosoft Corporation of Redmond, Wash., and their associated filemanagement systems. Another example of operating system software withits associated file management system software is the Linux operatingsystem and its associated file management system. The file managementsystem may be stored in the non-volatile storage and causes theprocessor to execute the various acts required by the operating systemto input and output data and to store data in the memory, includingstoring files on the non-volatile storage.

The bus can also couple the processor to the interface. The interfacecan include one or more input and/or output (I/O) devices. The I/Odevices can include, by way of example but not limitation, a keyboard, amouse or other pointing device, disk drives, printers, a scanner, andother I/O devices, including a display device. The display device caninclude, by way of example but not limitation, a cathode ray tube (CRT),liquid crystal display (LCD), or some other applicable known orconvenient display device. The interface can include one or more of amodem or network interface. It will be appreciated that a modem ornetwork interface can be considered to be part of the computer system.The interface can include an analog modem, isdn modem, cable modem,token ring interface, satellite transmission interface (e.g. “directPC”), or other interfaces for coupling a computer system to othercomputer systems. Interfaces enable computer systems and other devicesto be coupled together in a network.

The computer systems can be compatible with or implemented as part of orthrough a cloud-based computing system. As used in this paper, acloud-based computing system is a system that provides virtualizedcomputing resources, software and/or information to client devices. Thecomputing resources, software and/or information can be virtualized bymaintaining centralized services and resources that the edge devices canaccess over a communication interface, such as a network. “Cloud” may bea marketing term and for the purposes of this paper can include any ofthe networks described herein. The cloud-based computing system caninvolve a subscription for services or use a utility pricing model.Users can access the protocols of the cloud-based computing systemthrough a web browser or other container application located on theirclient device.

A computer system can be implemented as an engine, as part of an engineor through multiple engines. As used in this paper, an engine includesat least two components: 1) a dedicated or shared processor and 2)hardware, firmware, and/or software modules that are executed by theprocessor. Depending upon implementation-specific or otherconsiderations, an engine can be centralized or its functionalitydistributed. An engine can include special purpose hardware, firmware,or software embodied in a computer-readable medium for execution by theprocessor. The processor may transform data into new data usingimplemented data structures and methods, such as is described withreference to the FIGS. in this paper.

The engines described herein, or the engines through which the systemsand devices described herein can be implemented, can be cloud-basedengines. A cloud-based engine may be an engine that can run applicationsand/or functionalities using a cloud-based computing system. All orportions of the applications and/or functionalities can be distributedacross multiple computing devices, and need not be restricted to onlyone computing device. In some embodiments, the cloud-based engines canexecute functionalities and/or modules that end users access through aweb browser or container application without having the functionalitiesand/or modules installed locally on the end-users' computing devices.

Datastores may include repositories having any applicable organizationof data, including tables, comma-separated values (CSV) files,traditional databases (e.g., SQL), or other applicable known orconvenient organizational formats. Datastores can be implemented, forexample, as software embodied in a physical computer-readable medium ona specific-purpose machine, in firmware, in hardware, in a combinationthereof, or in an applicable known or convenient device or system.Datastore-associated components, such as database interfaces, can beconsidered “part of” a datastore, part of some other system component,or a combination thereof, though the physical location and othercharacteristics of datastore-associated components is not critical foran understanding of the techniques described herein.

Datastores can include data structures. A data structure may beassociated with a particular way of storing and organizing data in acomputer so that it can be used efficiently within a given context. Datastructures may be based on the ability of a computer to fetch and storedata at any place in its memory, specified by an address, a bit stringthat can be itself stored in memory and manipulated by the program.Thus, some data structures are based on computing the addresses of dataitems with arithmetic operations; while other data structures are basedon storing addresses of data items within the structure itself. Manydata structures use both principles, sometimes combined in non-trivialways. The implementation of a data structure may entail writing a set ofprocedures that create and manipulate instances of that structure. Thedatastores can optionally be cloud-based datastores. A cloud-baseddatastore may be a datastore that is compatible with cloud-basedcomputing systems and engines.

The articulating joint solar panel array 104 includes a bearing aboutwhich a solar panel array mounted on a solar panel support can bedisplaced. The solar panel support, may have any configuration, such asa transverse beam, transverse tube, torque tube, or any otherconfiguration. Any description herein of a transverse beam may apply toany other type of solar panel support and vice versa. The transversebeam may span the distance between first and succeeding second bearingsthat support the transverse beam and allow the transverse beam torotate. A first transverse beam can be co-linear with a succeedingsecond transverse beam if a third succeeding bearing support isco-linear with the first and second bearings. If the third bearingsupport is not co-linear with the first and second bearing, then anarticulating joint assembly may be used in place of a bearing to allowrotational force to be transmitted to a second transverse beam at adiffering angle from the transverse beam spanning the distance betweenthe first and second bearing. The bearings and the articulating jointsmay optionally be positioned at the top of a support structure, such asa support post that supports the solar panel array.

The articulating joint solar panel array 104 may include an articulatingjoint assembly comprised of an articulating joint and one or morebearings. The configuration of the articulating joint assembly isdesigned to be similar in size to a bearing design so that selectingeither a bearing design or an articulating joint design will havenegligible effect on the location of the solar panel support structures.Furthermore, a bearing design or an articulating joint design may besubstituted for one another without the need for moving, removing orreplacing solar panel structures.

Depending upon implementation-specific or other considerations, thearticulating joint solar panel array 104 may be agnostic to the slopeand grading of the ground that it rests upon, and thereby is lessexpensive to install than solar panel arrays that require grading. Anarticulating joint of the articulating joint solar panel array 104 canallow successive solar panel arrays to pivot about differing axes. Acentral axis around which a solar panel array can pivot can be an axisthrough the center of successive bearings in line with one another. Acentral axis around which a solar panel array can pivot can be an axisdefined by the center of the articulating joint and the center of asucceeding or preceding articulating joint assembly or bearing. Thearticulating joint can be an applicable joint that allows the solarpanel array to transmit torque at a differing angle to a succeedingsolar panel array. Examples of an articulating joint may include, butare not limited to, a Cardan joint, constant velocity joint, sphericaljoint, a spherical rolling joint, a cylindrical joint, or anycombination thereof.

The articulating joint solar panel array 104 can provide a solar panelarray with an applicable number of degrees of freedom, including eitheror both translation freedom and rotation freedom. Depending uponimplementation-specific or other considerations, the articulating jointcan provide a solar panel array of the articulating joint solar panelarray 104 with three degrees of freedom of an applicable combination ofrotation freedom and/or translation freedom. Translation freedom isprovided by allowing the transverse tube to freely extend and retractwithin the articulating joint assembly without imparting substantialload onto the articulating joint. The exact distance for extension andretraction may be determined based on environmental variables such as,but not limited to, ambient temperature variations that affect thelength of the transverse tube and shifting soil that may move the baseof the bearing mounting structure. One end of each transverse beam canbe rigidly fixed without the ability to translate in an articulatingjoint. One end of each transverse beam can be selected to be rigidlyfixed without the ability to translate in an articulated joint to impartload onto a specific support structure.

The articulating joint solar panel array 104 includes drive mechanismsfor causing a solar panel array to be displaced about an articulatingjoint. Examples of applicable drive mechanisms may include motors andtorque tubes. Drive mechanisms of the articulating joint solar panelarray can cause a solar panel array to be displaced according to controlinstructions. The articulating joint solar panel array can includebatteries to supply power to drive mechanisms. Power can be provided tothe batteries from solar power generated by a solar panel array of thearticulating joint solar panel array. Depending uponimplementation-specific or other considerations, power can be suppliedto the batteries during curtailment or during operation withoutcurtailment. Curtailment, as is used in this paper, occurs when a solarpower plant associated with the articulating joint solar panel arrayproduces more power than it can inject into a power grid. Furtherdepending upon implementation-specific or other considerations, powercan be supplied to the batteries during clipping. Clipping, as is usedin this paper, occurs when the articulating joint solar panel arrayproduces more power than inverters and/or transformers coupled to thearticulating joint solar panel array are rated to handle. Power can alsobe supplied by a dedicated solar panel or from grid power connection.

In a specific implementation, the articulating joint solar panel array104 may include position sensing mechanisms for determining the positionof the solar panel array. Positioning of each solar panel of a solarpanel array may be determined. In some instances, the positioning of arepresentative solar panel from a group of solar panels may bedetermined. Position sensing mechanisms can include applicable sensorsand/or instruments for determining an orientation of a solar panelarray. Examples of position sensing mechanisms include gyroscopes,accelerometers, tilt sensors, photo sensors, and/or video and audiocapturing instruments. Depending upon implementation-specific or otherconsiderations, the position mechanisms can be used to determine if asolar panel array is being displaced correctly according to controlinstructions. For example the position sensing mechanisms can be used tocontrol the driving mechanisms in displacing the solar panel array.Further depending upon implementation-specific or other considerations,the position sensing mechanisms can be calibrated through interactionswith neighboring solar panel arrays. For example, a tilt sensor can becalibrated based on a tilt sensor of a solar panel array having a solarpanel array at the same tilt.

In a specific implementation, the articulating joint solar panel array104 may include environment sensing mechanisms for determining factorsof the environment surrounding the articulating joint solar panel array.Examples of factors of an environment can include temperature, windspeed, an amount of shading of a solar panel array, and performanceand/or positions of neighboring solar panel arrays. Examples ofenvironment sensing mechanisms include thermometers, wind speeddetectors, amperage meters, voltage meters, photo sensors, and/or videoand audio capturing instruments. Depending upon implementation-specificor other considerations, an amount of shading of a solar panel array canbe determined based on power produced by specific solar panels in thesolar panel array. For example, if 50% of solar panels in a solar panelarray are producing power at a level consistent with the level of powergeneration by modules in neighboring rows and expected by currentenvironmental conditions and 50% are not, then it can be determined that50% of the solar panel array is shaded to some degree. Further dependingupon implementation-specific or other considerations, the environmentsensing mechanisms can be used in displacing a solar panel array. Forexample, if a wind speed of thirty miles per hour from the south isdetected, then the solar panel array can be displaced to minimize damagefrom the wind.

The articulating joint solar panel array control system 106 may functionto control displacement of a solar panel array of the articulating jointsolar panel array 104. The articulating joint solar panel array controlsystem can control displacement of a solar panel array based on anamount of power generated by the solar panel array or other powersource, in order to increase, decrease, and/or otherwise affect powergeneration levels of the solar panel array.

Depending upon implementation-specific or other considerations, thearticulating joint solar panel array control system 106 can be dedicatedto the articulating joint solar panel array 104 only, or a plurality ofarticulating joint solar panel arrays through a master-slave arrangementwith a central controller collecting data from individual rowcontrollers to direct the tilt of each tracker row. Further dependingupon implementation-specific or other considerations, the articulatingjoint solar panel array control system or portions of the articulatingjoint solar panel array control system can be integrated as part of thearticulating joint solar panel array, at the site of the articulatingjoint solar panel array, and/or remote from the site of the articulatingjoint solar panel array.

In being integrated as part of the articulating joint solar panel array104 the articulating joint solar panel array control system 106 can besemi-autonomous. In controlling displacement of a solar panel array ofthe articulating joint solar panel array, the control system can sendcontrol signals to the articulating joint solar panel array that cause adrive mechanism to displace the solar panel array. Control signals caninclude a direction, an angle, and/or an amount to move the solar panelarray.

In a specific implementation, the articulating joint solar panel arraycontrol system 106 may troubleshoot and/or perform diagnostics on thearticulating joint solar panel array 104. In performing diagnostics onthe articulating joint solar panel array, the articulating joint solarpanel array control system can determine if the articulating joint solarpanel array is working properly. Depending upon implementation-specificor other considerations, the articulating joint solar panel arraycontrol system can send a control signal to the articulating joint solarpanel array to displace to predefined position if it determines that thearticulating joint solar panel array is not working properly. Anexample, of a predefined position can include a fixed tilt.

In a specific implementation, the articulating joint solar panel arraycontrol system 106 may function to control displacement of a solar panelarray of the articulating joint solar panel array 104 based on aposition of the solar panel array, as determined by position sensingmechanisms. Depending upon implementation-specific or otherconsiderations, the articulating joint solar panel array control systemcan control displacement of a solar panel array based on a desiredposition of the solar panel array and a current position of the solarpanel array, as determined by position sensing mechanisms. For example,if the articulating joint solar panel array control system 106determines that a solar panel array needs to be rotated 45° from itscurrent position, then the articulating joint solar panel array controlsystem 106 can generate and send a control signal to drive mechanismsspecifying to rotate the solar panel array 45°. Further depending uponimplementation-specific or other considerations, the articulating jointsolar panel array control system can send a constant control signal tothe driver mechanisms as the solar panel array is being displaced untilthe desired position of the solar panel array is achieved, as determinedusing the position sensing mechanisms. For example, the articulatingjoint solar panel array control system can send control signals to thedrivers constantly to cause the drivers to continue rotating the solarpanel array until a desired position of the solar panel array isachieved.

In a specific implementation, the articulating joint solar panel arraycontrol system 106 functions to control displacement of a solar panelarray of the articulating joint solar panel array 104 based on factorsof the environment surrounding the articulating joint solar panel array,as determined by environment sensing mechanisms. The articulating jointsolar panel array control system can determine a desired position of asolar panel array based on factors of the environment surrounding thesolar panel array. For example, if the articulating joint solar panelarray control system determines that a solar panel array is being shadedabove a threshold level, then the articulating joint solar panel arraycontrol system can determine a desired position of the solar panel arrayat which shading would be reduced below the threshold level. Optionally,the shade threshold level may refer to a threshold area or percentage ofthe area of the solar panel that is shaded, or an amount or percentageof energy production decrease due to shading. In another example, if thearticulating joint solar panel array control system determines that asolar panel array is being exposed to winds greater than a thresholdlevel, then the articulating joint solar panel array can determine adesired position at which damage from the wind will be reduced.Optionally, the wind threshold level may refer to a velocity of thewind, or an amount of force imparted on the solar panel array due to thewind.

The articulating joint solar panel array control system 106 canoptionally determine a desired position of a solar panel array based ona time and geographical position. A time can include a time of day and atime during a calendar year. A geographical position can includelatitude, longitude, slope, aspect and elevation. For example, if on agiven day the sun tracks along a specific line with respect to a solarpanel, then the articulating joint solar panel array control system candetermine a desired position based on the specific line along which thesun tracks. In another example, the articulating joint solar panel arraycontrol system can determine a desired position of a solar panel arraybased on the location of the sun at a given time of day.

In some instances, the articulating joint solar panel array controlsystem 106 can determine a desired position of a solar panel array basedon historical data. In using historic data to determine a desiredposition of a solar panel array, the articulating joint solar panelarray control system can determine if power production anomalies exist.For example, the articulating joint solar panel array can determine apower production anomaly exists if a specific solar panel arrayexperiences reduced power production according to a pattern, such asaround the same time of day every day. If a power production anomaly isdiscovered, the articulating joint solar panel array control system candetermine a desired position that reduces or eliminates the powerproduction anomaly.

In accordance with some implementations, the articulating joint solarpanel array control system 106 can determine a desired position of asolar panel array at a site based on positions of other solar panelarrays on the site. For example, if the articulating joint solar panelarray control system can determine a desired position of a solar panelarray where it will not be shaded by another solar panel array on thesite based on the position of another solar panel array on the site.

In accordance with some implementations, the articulating joint solarpanel array control systems 106 can determine the desired positions of aplurality of solar panel arrays to increase or maximize power generationbased on power generation analysis that may result in the intentionalshading of certain solar panel array(s) to increase the power generationof other solar panel arrays at a greater amount than the loss associatedwith the shaded array(s). For example, if a solar panel array is beingshaded thus reducing power generation of the entire power plant by 0.1%,but the shading mitigation measures for eliminating shading from the onesolar panel array requires all other solar panel arrays to be tiltedfurther from the sun resulting in an overall power generation reductionof 2%, then it may be determined that it is preferable to shade the onesolar panel array at that period of time.

In a specific implementation, the articulating joint solar panel arraycontrol system 106 can control the positions of a plurality of solarpanel arrays at a site. Depending upon implementation-specific or otherconsiderations, the articulating joint solar panel array control systemcan control the positions of a plurality of solar panel arrays within arow, thereby being row specific, within a column, thereby being columnspecific, and/or within a region, thereby being region specific. Furtherdepending upon implementation-specific or other considerations,articulating joint solar panel arrays can communicate with each other,e.g. send position data, through the articulating joint solar panelarray control system. Depending upon implementation-specific or otherconsiderations, the articulating joint solar panel array control systemcan position a plurality of solar panel arrays at a site in order toincrease, decrease, and/or otherwise affect power generation levels ofthe solar panel arrays at the site. For example, the articulating jointsolar panel array control system can cause all solar panel arrays withina row to move in order to increase power production by solar panelarrays in another row.

FIG. 2 depicts a flowchart of an example of a method for controllingdisplacement of a solar panel array of an articulating joint solar panelarray. Any of the steps of the flowchart may be optional and/orexchanged for other steps. In some instances, steps may be removed,added, or order of the steps may be altered.

The flowchart begins at module 202, where a position of a solar panelarray of an articulating joint solar panel array is determined. Aposition of a solar panel array can be determined by position sensingmechanisms of an articulating joint solar panel array.

The flowchart continues to module 204, where factors of the environmentsurrounding the articulating solar panel array are determined. Factorsof the environment surrounding the articulating solar panel array can bedetermined by environment sensing mechanisms and/or based on an amountof power generated by specific panels within the solar panel array.Depending upon implementation-specific or other considerations, a factorof the environment can include an amount of shading of the solar panelarray.

The flowchart continues to module 206 where a desired position of thesolar panel array is determined based on the determined position of thesolar panel array and the factors of the environment surrounding thearticulating joint solar panel array. Depending uponimplementation-specific or other considerations, a desired position ofthe solar panel array is a position of the solar panel array whereshading of the solar panel array is reduced.

The flowchart continues to module 208 where displacement of the solarpanel array to the desired position is controlled. The solar panel arraycan be displaced to the desired position through pivoting of the solarpanel array about a rotation axis defined by bearings and/or anarticulating joint. In using an articulating joint the solar panel arraycan be displaced along a plurality of axes and/or rotated.

FIG. 3 depicts a schematic of a solar panel array within an environment.One or more solar panel supports 310 a, 310 b, 310 c may be provided,which may support one or more solar panels 320 a, 320 b, 320 c. In someembodiments, the solar panel supports may be connected via one or morebearings 330 a, 330 b. Optionally, an articulating joint 340 may be usedto connect the solar panel supports. A driving mechanism 350 may drivemovement of the one or more solar panels. One or more support structures360 a, 360 b, 360 c may be provided which may support the solar panelsupports, bearings, and/or articulating joint over an underlying surface370.

A solar panel array may include one or more solar panel supports 310 a,310 b, 310 c. The solar panel supports may bear weight of one or moresolar panels 320 a, 320 b, 320 c. In some instances, a one-to-onecorrespondence may be provided so that each solar panel support bearsweight of one solar panel. Alternatively, a single solar panel supportmay bear weight of multiple solar panels, or multiple solar panelsupports may be used to bear weight of a single solar panel. A solarpanel support may support one or more corresponding solar panels.

The solar panel supports may be configured to span a length. A solarpanel support may span a length between two end-supports. Examples ofend-supports may include, but are not limited to, bearings, articulatingjoints, driving mechanisms, support structures, or any other structurethat may support an end of a solar panel support. The end-supports atboth ends of the solar panel support may be the same type, or may bedifferent types. The end-supports may be at the ends of the solar panelsupports, or near an end of the solar panel supports (e.g., within 20%,10%, 5%, 3%, or 1% of an end of the solar panel supports).

The solar panel support may have any shape or configuration. Forinstance, a solar panel support may be a transverse beam, transversetube, and/or torque tube. The solar panel support may have an elongatedshape such that the length of the solar panel support exceeds adimension, such as a length, diagonal, diameter, or width, of across-section of solar panel support. In some instances, the length ofthe solar panel support exceeds the dimension of the cross-section ofthe solar panel support by more than 1:1, 3:2, 2:1, 3:1, 4:1, 5:1, 6:1,8:1, 10:1, 15:1, 20:1, 30:1, or 40:1. In some instances, the length ofthe solar panel support may be on the order of an inch, several inches,tens of inches, feet, several feet, or tens of feet. The cross-sectionof the solar panel support may have any shape, including but not limitedto, a circle, ellipse, oval, square, rectangle, trapezoid, pentagon,hexagon, octagon, crescent, “I” shape, “T” shape, “H” shape, “X” shape,or any other shape, which may include a regular or irregular polygon.The solar panel support may have a solid structure, or may have a hollowstructure. The solar panel support may or may not have one or morecavities therein.

One or more solar panels 320 a, 320 b, 320 c may be provided in a solarpanel array. The solar panels may include one or more photovoltaic(“PV”) cells that may be capable of converting solar energy toelectrical energy. The PV cells may be arranged in any configuration ona solar panel. For instance, an array of PV cells may be provided on asolar panel. The solar panel may include a cover or protective surface.The solar panel may include a frame.

The solar panel may have any shape or configuration. For instance, thesolar panel may have a quadrilateral shape, such as a rectangle orsquare. The solar panel may have any other shape, as described elsewhereherein. The solar panel may have a dimension (e.g., length, width,diagonal, diameter) on the order of an inch, several inches, tens ofinches, feet, several feet, or tens of feet.

A solar panel may be capable of moving. For instance, the solar panelmay be capable of rotating about one, two, or three axes. The solarpanel may be capable of translation along one, two, or three axes. Theaxes may or may not be orthogonal to one another. In some instances, themovement of a solar panel may be determined by a corresponding solarpanel support. Movement of the solar panel support may effect movementof the corresponding solar panel. For instance, rotation of a solarpanel support or a component of the solar panel support may cause thecorresponding solar panel to rotate about the same axis. Translation(e.g., sliding) of the solar panel support or a component of the solarpanel support may cause the corresponding panel to translate (e.g.,slide) along the same axis. In one example, rotation of a first solarpanel support 310 a may cause a corresponding rotation of a first solarpanel 320 a, rotation of a second solar panel support 310 b may cause acorresponding rotation of a second solar panel 320 b, and/or a rotationof a third solar panel support 310 c may cause a corresponding rotationof a third solar panel 320 c.

One or more bearings 330 a, 330 b may optionally be provided within asolar panel array. A bearing may connect one or more solar panelsupports. For instance, a bearing 330 a may connect a first solar panelsupport 310 a and a second solar panel support 310 b. The bearing maysupport ends of the solar panel supports. The bearing may permitrotation of a first solar panel support to affect rotation of a secondsolar panel support. In some instances, rotation of the first solarpanel support would cause rotation of the second solar panel support.The rotation of the first solar panel support may be imparted to thesecond solar panel support to cause rotation of the second solar panelsupport. The rotation of the first solar panel support and the secondsolar panel support may be at the same rate or may be at differingrates. The first solar panel support and the second solar panel supportmay or may not directly contact one another. In some instances, thebearing may form the connection between the first solar panel supportand the second solar panel support.

The bearing may optionally cause the first solar panel support and thesecond solar panel support to retain the same orientation relative toone another. The position between the first solar panel support and thesecond solar panel support may be substantially fixed when a bearingconnects them. For instance, a length of the first solar panel supportmay be co-linear with the second solar panel support. If the solar panelsupports are a tube or beam, the solar panel supports may be co-linearwith one another. Bearings may be useful in situations where the terrainis relatively flat, or there is relatively little variation.

The solar panel array may include an articulating joint 340. Thearticulating joint may connect one or more solar panel supports. Forinstance, an articulating joint may connect a first solar panel support310 b and a second solar panel support 310 c. The articulating joint maysupport ends of the solar panel supports. The articulating joint maypermit rotation of a first solar panel support to affect rotation of asecond solar panel support. In some instances, rotation of the firstsolar panel support would cause rotation of the second solar panelsupport. The rotation of the first solar panel support may be impartedto the second solar panel support to cause rotation of the second solarpanel support. The rotation of the first solar panel support and thesecond solar panel support may be at the same rate or may be atdiffering rates. The first solar panel support and the second solarpanel support may or may not directly contact one another. In someinstances, the articulating joint may form the connection between thefirst solar panel support and the second solar panel support.

The articulating joint may permit the first solar panel support and thesecond solar panel support to have variable orientations relative to oneanother. Correspondingly, the articulating joint may permit the firstsolar panel and the second solar panel to have variable orientationsrelative to one another. Any description herein of variation in thepositioning of the solar panel supports and/or orientations of the solarpanel supports may also apply to corresponding solar panels, and viceversa. The position between the first solar panel support and the secondsolar panel support may be substantially variable when an articulatingjoint connects them. In some instances, the orientation of the firstsolar panel support and the second solar panel support may be variedwhile the solar panel array is being set up. The orientation of thefirst solar panel support and the second solar panel support may or maynot be altered after the solar panel array is set up. The first solarpanel support and the second solar panel support may be arranged so thatthey are at different orientations relative to one another (e.g., notco-linear), with aid of the articulating joint. Optionally, the firstsolar panel support and the second solar panel support may be arrangedso that they are at the same orientation relative to one another (e.g.,co-linear). The solar panel supports may be arranged to not be co-linearwith one another on an X plane and/or Y plane. They may be arranged tobe not co-linear at an angle of less than 1, 5, 15, 30, 60, or 90degrees. Optionally, they may be arranged at an angle of less than 1degree, 1 degree, or up to degrees conically with a maximum absoluteangle of up to 90 degrees from horizontal. However, the articulatingjoint may permit the first solar panel support and the second solarpanel support to be arranged in an orientation at a user's discretion. Auser may select from a wide range of configurations.

Articulating joints may be useful in situations where the terrain is notflat, or when there is substantial variation. For instance, asillustrated, when the terrain 370 has a change in grade, thearticulating joint 340 may be employed to permit the solar panel arrayto accommodate the change in terrain. This may cause the first solarpanel support 310 b and the second solar panel support 310 c to be atdifferent orientations relative to one another. For instance, an axisextending through the length of the first solar panel support is notparallel to an axis extending through the length of the second solarpanel support.

The rotation of the first solar panel support may affect the rotation ofthe second solar panel support through the articulating joint,regardless of whether the first solar panel support and the second solarpanel support are arranged at different orientations or the sameorientation. For instance, the rotation of the first solar panel support310 b may cause or affect the rotation of the second solar panel support310 c even when they are at different orientations relative to oneanother, with aid of the articulating joint 340. The articulating jointmay permit a rotational force from the first solar panel support to betransferred to the second solar panel support. The rotational force maypermit rotation in an unlimited range, or within a limited range. In oneinstance, the articulating joint may permit a rotational force from thefirst solar panel support to be transferred to the second solar panelsupport for up to 15, 30, 45, 60, 75, 90, 120, 150, or 180 degrees(optionally, in the negative or positive direction from horizontal).This may occur when the first solar panel support and the second solarpanel supports are at different orientations, or at the sameorientation. For instance, the articulating joint may permit arotational force from the first solar panel support to be transferred tothe second solar panel support when the first solar panel support andthe second solar panel support are at different orientations relative toone another for up to 15, 30, 45, 60, 75, 90, 120, 150, or 180 degrees(optionally, in the negative or positive direction from horizontal). Aspreviously described, the rotational force of the first solar panelsupport may effect rotation of the corresponding first solar panel, androtational force of the second solar panel support may effect rotationof the corresponding second solar panel.

In some embodiments, other types of movements may occur. For instance, asolar panel may have a translational motion. The translational motionmay be in a direction along a length of a corresponding solar panelsupport. Alternatively, the translational motion may have any otherdirection. In some instances, translational motion of the solar panelsupport may cause the corresponding translational motion in the solarpanel. In one example, a solar panel support or a component of the solarpanel support may move along the length of the solar panel support,which causes a corresponding motion by the solar panel in a directionparallel to the length of the solar panel support. A first solar panelsupport may permit translational movement of a first solar panel and asecond solar panel support may permit translational movement of a secondsolar panel. In some instances, the translation may be of less than orequal to 1, 3, 6, 12, 24, or 36 inches. The translation may be greaterthan any of the values described or may fall within a range between anytwo of the values described. The translation may be in any direction,which may include a positive or negative Z-axis direction, positive ornegative Y-axis direction, and/or a positive or negative X-axisdirection. In one example, the translation may be less than one inch,one inch, or up to 12 inches in the positive or negative Z axisdirection.

In some instances, the solar panel support may extend or retract topermit translational motion of the corresponding solar panel. In someinstances, the solar panel support may include multiple parts that maypermit the extending or retracting. For instance, one or moretelescoping features may be provided. The extending or retracting mayoccur within one or more end-supports of the solar panel support. Forinstance, the extending or retracting may occur within an articulatingjoint, or a bearing supporting the solar panel support. In someinstances, the range of the extending or retracting may be limited. Therange may be limited to less than or equal to 50%, 40%, 30%, 25%, 20%,15%, 10%, 5%, 3%, or 1% of the length of the solar panel support.

In one example, a method of imparting a translational load from a solarpanel support to a bearing within the articulating joint assembly may beprovided. The method may include rigidly fixing a panel support to thebearing to constrain translational motion of one or more, two or more,three or more, five or more, or ten or more panel supports onto saidbearing. This method may provide an ability of focusing thetranslational load of one panel support onto one support structure toreduce the total load on the ultimate support structure for purposes ofreducing the size and strength requirements for the support structure.

A solar panel array may include a driving mechanism 350. The drivingmechanism may drive motion of one or more solar panels 320 a, 320 b, 320c within the solar panel array. The driving mechanism may drive motionof one or more solar panel supports 310 a, 310 b, 310 c within the solarpanel array. The motion may include rotational motion and/ortranslational motion.

The driving mechanism 350 may drive a motion of a first solar panelsupport 310 a that is closest to the driving mechanism, which may inturn drive a motion of a subsequent second solar panel support 310 bfurther from the driving mechanism. Optionally the motion of the secondsolar panel support may in turn drive a motion of a subsequent thirdsolar panel support 310 c even further from the driving mechanism. Themotion of the first solar panel support may drive the motion of thefirst solar panel, the motion of the second solar panel support maydrive the motion of the second solar panel, and/or the motion of thethird solar panel support may drive the motion of the third solar panel.In some examples, the motion of the first solar panel may drive themotion of the second solar panel support with aid of an end-support,such as a bearing or articulating joint. Similarly, the motion of thesecond solar panel support may drive the motion of the third solar panelsupport with aid of an end-support, such as a bearing or articulatingjoint. The end-support itself may or may not move. In some instances,the motion of a solar panel may drive a motion of a portion of the endsupport (e.g., bearing or articulating joint) that may in turn drive amotion of a subsequent solar panel support.

The driving mechanism may affect motion of any number of solar panelsand/or solar panel supports. The driving mechanism may affect motion ofat least 1 or more, 2 or more, 3 or more, 4 or more, 5 or more, 6 ormore, 7 or more, 8 or more, 9 or more, 10 or more, 15 or more, 20 ormore, 30 or more, or 50 or more solar panels and/or solar panelsupports. The solar panels and/or solar panel supports may be arrangedserially, in parallel, or any combination of the two.

The driving mechanism may include an actuator that may affect the motionof the solar panel array. The actuator may include a motor. The drivingmechanism may have any characteristics or features as describedelsewhere herein.

One or more components of the solar panel array may be raised above anunderlying surface 370. One or more support structures 360 a, 360 b, 360c, 360 d may elevate one or more components of the solar panel array.For instance, one or more end-supports (e.g., bearings, articulatingjoints, driving mechanisms) may be raised above the underlying surfacewith aid of one or more support structures. The one or more solar panelsupports may be raised above the surface with aid of the one or moresupport structures. The one or more support structures may or may notdirectly contact the one or more solar panel supports. In someinstances, the one or more support structures may directly contact theend-supports, which may in turn support the one or more solar panelsupports.

The one or more support structures 360 a, 360 b, 360 c, 360 d maysufficiently elevate the components of the solar panel array such thatthe solar panels 320 a, 320 b, 320 c are raised above the underlyingsurface and are high above enough the surface to not come into contactwith the surface even when the solar panels rotate.

The support structures 360 a, 360 b, 360 c may have any configuration.For instance, the support structures may form support posts. The supportposts may have a substantially vertical orientation that may raise theend-supports of the solar panel array. Any other configuration may beprovided by the support structures. For instance, framing, walls,trusses, beams, or any other configuration may be provided. The supportstructures may have a substantially fixed length. Alternatively, thesupport structures may have a variable length. The support structuresmay have a component that may permit extension or retraction of acomponent of the support structures. Telescoping features may beprovided that may permit variability in the support structure length.The support structures may optionally be affixed to the underlyingsurface. For instance, the support structure may penetrate an underlyingground.

The solar panel array, or a portion of a solar panel array, may bepresented as a row of solar panels with corresponding supportingstructure. The solar panels may be arranged so that they in straightrows, or can be in rows that change direction. One or more articulatingjoints in the array may permit lateral variability in the orientation ofthe solar panel supports, that may permit the rows of the solar panelarray to not be perfectly straight laterally. In some instances, thearticulating joints may permit the solar panel array to vary by at least1, 3, 5, 10, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, or 175degrees laterally at each articulating joint, or over multiplearticulating joints. Similarly, the solar panels may be arranged in rowsthat may traverse terrain with changing elevation or grades. One or morearticulating joints in the array may permit vertical variability in theorientation of the solar panel supports, which may permit rows of thesolar panel array to not all be straight vertically. In some instances,the articulating joints may permit the solar panel array to vary by atleast 1, 3, 5, 10, 15, 30, 45, 60, 75, or 85 degrees vertically at eacharticulating joint, or over multiple articulating joints. Thearticulating joint may be able to accommodate at least a 1%, 5%, 10%,20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 100% change in grade of theunderlying surface. An articulating joint may be configured to connectto a first solar panel support and a second solar panel support in amanner that permits a variable orientation of the first solar panelrelative to the second solar panel support. The variable orientation maybe provided with a maximum nominal slope of any degree, such as anydegree value described elsewhere herein. For instance, the maximumnominal slope may be of at least 1, 3, 5, 10, 15, 30, 45, 60, 75, 85,90, 105, 120, 135, 150, 165, or 175 in any direction. The maximumnominal slope may be less than any of the degree values provided or mayfall within a range between any two of the degree values provided.

FIG. 4 shows a schematic of degrees of freedom for an articulatingjoint. An articulating joint 440 may have a first interface 420 a thatcouples to a first solar panel support 410 a, and a second interface 420b that couples to a second solar panel support 410 b. Optionally, thearticulating joint may be supported by a support structure 460.

The articulating joint 440 may be used to connect two or more solarpanel supports. In the illustration provided, a first interface 420 aand a second interface 420 b may be provided. However, the articulatingjoint may have any number of interfaces that may correspond to anynumber of solar panel supports that may be supported by the articulatingjoint. For instance, the articulating joint may be used to support 1 ormore, 2 or more, 3 or more, 4 or more, 5 or more, or 10 or more solarpanel supports, and/or may have 1 or more, 2 or more, 3 or more, 4 ormore, 5 or more, or 10 or more corresponding interfaces. The interfacesmay have fixed positions (e.g., spatial locations or orientations)relative to one another. Alternatively, the interfaces may have variablepositions (e.g., spatial locations or orientations) relative to oneanother. The interfaces may or may not be able to move relative to oneanother.

A solar panel support may couple to an articulating joint interface. Thesolar panel support may directly contact an articulating jointinterface. The articulating joint interface may or may not permitmovement or expansion/retraction of the solar panel support relative tothe articulating joint. An end of the solar panel support may be stoppedby the articulating joint interface. Alternatively, the articulatingjoint interface may permit the end of the solar panel support to passthrough and/or move within the articulating joint.

A solar panel support may have a rotational motion. The rotationalmotion of the solar panel support may cause a corresponding rotation bythe articulating joint interface coupled to the solar panel support.Alternatively, the solar panel support may rotate relative to thearticulating joint interface. In some embodiments, rotation of the firstsolar panel support may cause rotation of the first articulating jointinterface, which may cause rotation of a second articulating jointinterface, which may in turn cause rotation of a second solar panelsupport. In some instances, the articulating joint may cause therotation of the second solar panel support to match the rotation of thefirst solar panel support. The articulating joint may cause the rate ofrotation and/or acceleration of rotation of the second solar panelsupport to match the rate of rotation and/or acceleration of rotation ofthe first solar panel support. Alternatively, the rotation, rate ofrotation, and/or acceleration of rotation of the first solar panelsupport may be different from the second solar panel support (e.g., maybe less than or greater than). In some instances, the articulating jointmay impose a factor (e.g., 1, 1.1, 1.2, 1.3, 1.5, 2, 3, etc.) betweenrotation of the first solar panel support and the second solar panelsupport.

As previously described, the articulating joint may permit anorientation of a first solar panel support 410 a and a second solarpanel support 410 b to be variable relative to one another. Theorientation of the first end support a may be an axis extending along alength of the first solar panel support and an orientation of the secondsolar panel support b may be an axis extending along a length of thesecond solar panel support. When the first solar panel support and thesecond solar panel support are co-linear, a and b may be parallel, ormay coincide. When the first solar panel support and the second solarpanel support are not co-linear, a and b are not parallel. Thearticulating joint may permit a and b to have variable orientationsrelative to one another. The articulating joint may permit a and b tonot be parallel. The articulating joint may permit the angle between aand b to vary by greater than, less than, or equal to 1 degree, 3degrees, 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees,150 degrees, 160 degrees, 170 degrees, 175 degrees, 178 degrees, or 179degrees. The angle between a and b may be anywhere in three dimensionalspace. The angle may be provided relative to an x-y plane, y-z plane, orx-z plane. Components of the angles may be found along an x-axis,y-axis, and/or z-axis.

In some instances, the articulating joint may permit variability alongthree degrees of freedom (e.g., at least three degrees of rotationalfreedom). For instance, the orientation of the first solar panel supportand the second solar panel support may differ relative to the x-axis,y-axis, and z-axis as illustrated. The articulating joint may permitvariation in the orientation of the first solar panel support relativeto the second solar panel support about at least three degrees ofrotational freedom while the solar panel array is being set up. Thevariation may or may not be permitted after the solar panel array hasbeen finished setting up and is being used to convert solar energy toelectrical energy. In other embodiments, the articulating joint maypermit variability under fewer degrees of freedom, such as one degree offreedom, or two degrees of freedom. In one example, the articulatingjoint may permit variability in a vertical direction but not in alateral direction. In another example, the articulating joint may permitvariability in a lateral direction but not in a vertical direction.

In some instances, the articulating joint may permit variability alongthree degrees of freedom (e.g., at least three degrees of translationalfreedom). For instance, the spatial disposition of the first solar panelsupport and the second solar panel support may differ relative to thex-axis, y-axis, and z-axis as illustrated. The articulating joint maypermit variation in the spatial location of the first solar panelsupport relative to the second solar panel support about at least threedegrees of rotational freedom while the solar panel array is being setup. The variation may or may not be permitted after the solar panelarray has been finished setting up and is being used to convert solarenergy to electrical energy. In other embodiments, the articulatingjoint may permit variability under fewer degrees of freedom, such as onedegree of freedom, or two degrees of freedom. In one example, thearticulating joint may permit translational variability along a lengthof a solar panel support without permitting variability in a directionorthogonal to the length of the solar panel support.

FIG. 5 shows a schematic of a solar panel with a variable position. Asolar panel support 510 a may support a weight of a solar panel 520.Optionally, an articulating joint 540 or other type of end support mayconnect the solar panel support 510 a to another solar panel support 510b. The articulating joint or other type of end support may be raisedwith aid of one or more support structures 560.

The solar panel 520 may be capable of rotational motion and/ortranslational motion. In some instances, the solar panel may be capableof both rotational motion and translational motion.

The solar panel 520 may rotate about an axis of rotation extendingthrough or parallel to an axis extending through a length of the solarpanel support 510. When a solar panel support is laterally flat relativeto an inertial reference frame (e.g., is orthogonal to a direction ofgravity), the rotation of the solar panel may be about an axis ofrotation that is lateral relative to the inertial reference frame.However, when the solar panel support has a vertical component relativeto the inertial reference frame (e.g., is not orthogonal to thedirection of gravity), the rotation of the solar panel is not limited tobeing lateral relative to the inertial reference frame. Even if a solarpanel rotates about a single axis of rotation, the axis of rotationitself may change, which may provide a wide range of possible positionsfor the solar panel. The articulating joint may permit the axis ofrotation of the solar panel to be variable. Optionally, the solar panelmay rotate with the solar panel support. The solar panel may beconnected to the solar panel support so that they move together. Thesolar panel may rotate about a single axis of rotation, two axes ofrotation, or three axes of rotation.

The solar panel 520 may translate along an axis extending through orparallel to an axis extending through a length of the solar panelsupport 510. When a solar panel support is laterally flat relative to aninertial reference frame (e.g., is orthogonal to a direction ofgravity), the translation of the solar panel may be along a directionlateral relative to the inertial reference frame. However, when thesolar panel support has a vertical component relative to the inertialreference frame (e.g., is not orthogonal to the direction of gravity),the translation of the solar panel is not limited to being lateralrelative to the inertial reference frame. Even if a solar paneltranslates along a single direction, the axis itself may change, whichmay provide a wide range of possible locations for the solar panel. Thearticulating joint may permit the translational axis of the solar panelto be variable. Optionally, the solar panel may translate with acomponent of the solar panel support. The solar panel may be connectedto the solar panel support or a component of the solar panel support sothat they move together. The solar panel may translate along a singleaxis, along two axes, or along three axes.

FIG. 6 shows an example of a solar panel array with an articulatingjoint. A first solar panel support 610 a may bear weight of a firstsolar panel 620 a, and a second solar panel support 610 b may bearweight of a second solar panel 620 b. The first solar panel support maybe supported between multiple end-supports 630, 640. The second solarpanel support may be supported between multiple end-supports 640, 650.In some instances, an end support between the first solar panel supportand the second solar panel support may be an articulating joint 640. Thearticulating joint may be supported by a support structure 660, such asa support post.

The articulating joint 640 may allow the first solar panel support 610 aand the second solar panel support 610 b to have non-parallelorientations relative to one another. The articulating joint may permitthe first solar panel support and the second solar panel support to havevariable orientations relative to one another. The articulating jointmay permit rotation of the first solar panel support to affect rotationof the second solar panel support, or vice versa.

FIG. 7 shows an example of an articulating joint. The articulating joint740 may be used to connect a first solar panel support 710 a and asecond solar panel support 710 b. The articulating joint may or may notbe connected to a first solar panel 720 a and a second solar panel 720.The first solar panel and the second solar panel may optionally besupported by the first solar panel support and the second solar panelsupport. The first solar panel may operably couple to the articulatingjoint with aid of the first solar panel support, and/or the second solarpanel may operably couple to the articulating joint with aid of thesecond solar panel support.

The articulating joint 740 may include a first connection set 741 and asecond connection set 742. The first connection set and the secondsection connection set may connect at a pivot point 743. The pivot pointmay permit the orientation of the first connection set and the secondconnection set to change relative to one another. The relativeorientation may change about an axis of rotation passing through thepivot point.

The first connection set 741 may include a pair of extension membersthat may traverse at least a portion of the length of the articulatingjoint. The extension members may be connected to one another or may beformed as two separate pieces. The first connection set may be formedfrom a single integral piece or from multiple pieces. The extensionmembers may be substantially parallel to one another. The extensionmembers may include flat pieces such that the flat sides are facing oneanother in a substantially parallel manner. The extension members mayoptionally have a roughly contoured shape with wider ends than centralportions.

The second connection set 742 may include a pair of demi-extensionmembers that may traverse at least a portion of the length of thearticulating joint. Optionally, the demi-extension members of the secondconnection set may have a smaller length than an extension member of thefirst connection set. Alternatively, they may have the same length. Thedemi-extension members may be connected to one another or may be formedas two separate pieces. The second connection set may be formed from asingle integral piece or from multiple pieces. The demi-extensionmembers may be substantially parallel to one another. The demi-extensionmembers may include flat pieces such that the flat sides are facing oneanother in a substantially parallel manner. The demi-extension membersmay optionally have an elongated shape.

The first connection set and the second connection set may be connectedto one another at a pivot point 743. The pivot point may include a pairof contact locations for the first and second connection set. The pairof contact locations may be located along an axis, wherein theorientation of the first connection set may change with respect to anorientation of the second connection set about the axis. The firstconnection set and/or the second connection set may rotate about thepivot point. In some instances, the first connection set and/or thesecond connection set may rotate about an unlimited range.Alternatively, the amount of rotation may be limited. Optionally, thefirst connection set and/or the second connection set may have a trackthat may limit the amount of rotation about the pivot point. In someinstance, the pivot point may be roughly along a central portion alongthe length of the articulating joint. Portions of the first connectionset and the second connection set may overlap one another. For instance,a portion of the extension members and the demi-extension members mayoverlap one another.

Optionally, the first connection set and/or the second connection set ofthe articulating joint may be supported by one or more rotationalsupports 744 which may permit the first connection set and/or the secondconnection set to rotate about an axis extending through a length of thefirst connection set and/or the second connection set. A firstconnection set may pivot about the pivot point 743 and/or rotate aboutan axis extending through the length of the first connection set. Asecond connection set may pivot about the pivot point and/or rotateabout an axis extending through the length of the second connection set.In some instances, a rotation of the first connection set about the axisextending through the length of the first connection set may cause thesecond connection set to rotate. The multiple contact points provided bythe pivot point may cause a rotational force to be imparted from thefirst connection set to the second connection set, or vice versa. Thismay occur, even when the first and second solar panel supports are atdifferent orientations relative to one another. The first and secondconnection sets may form a linked configuration that may provideflexibility in the positioning of components of joints while permittingcertain movements to be imparted across the articulating joint.

An articulating joint may permit the first and second solar panelsupports (and/or the first and second solar panels) to have any degreeof freedom with respect to one another. The articulating joint mayincorporate the use of rotation of one or components about a singleaxis, two axes, or three axes. The articulating joint may incorporatethe use of translation of one or components along a single axis, twoaxes, or three axes. In some embodiments, a first axis, second axis,and/or third axis may intersect. They may intersect at the same point.They may intersect at a center of an articulating joint. Alternatively,one or more of the axes may not intersect. The axes may be orthogonal toone another. Alternatively, they need not be orthogonal to one another.Any combination of rotational and/or translational movements may bepermitted or limited.

Thus, the articulating joint may permit the first and second solar panelsupports to have variable orientations relative to one another, whichmay optionally include different orientations relative to one another.The articulating joint may convey rotation of the first solar panelsupport to the second solar panel support, or vice versa.

As previously described, this articulating joint configuration isprovided by way of example only. Other types of articulating joints,such as those described elsewhere herein, may be employed.

FIG. 8 shows an example of a solar panel array control system that maybe in communication with a solar panel array. As previously described,the solar panel array control system 830 may communicate with the solarpanel array. The control system is provided by way of example only, andis not limiting.

The solar panel array may include one or more groups 810 a, 810 b, 810 cof solar panels 820. The groups may include one or more solar panelsconnected in series, in parallel, or any combination thereof. The solarpanel groups may include rows of solar panels. Any description herein ofrows of solar panels may apply to any other type of arrangement orgrouping of solar panels. One or more groups of solar panels may makeuse of articulating joints to provide flexibility in the arrangement ofthe solar panel groups.

Optionally, each group of solar panels may have a group control system840 a, 840 b, 840 c. A first group control system 840 a may controloperation of a first group of solar panels 810 a, a second group controlsystem, 840 b may control operation of a second group of solar panels810 b, and/or a third group control system, 840 c may control operationof a third group of solar panels 810 c. The group control systems may bereferred to as row controllers when controlling rows of solar panels.Any number of solar panel groups and/or group control systems may beprovided. Each group may comprise any number of solar panels. Each groupmay have the same number of solar panels or differing numbers of solarpanels. A central controller 850 may optionally be provided that maycontrol the group control systems.

The solar panel array control system 830 may comprise the centralcontroller 850 and, optionally, one or more group control systems 840 a,840 b, 840 c. In some instances, one-way communication may be providedfrom the central controller to the one or more group control systems.The central controller may send instructions to the one or more groupcontrol systems, which may in turn control operation of thecorresponding solar panel groups. In some instances, two-waycommunication may be provided between the central controller and the oneor more group control systems. For instance, the group controllers maysend data to the central controller. The central controller may sendinstructions to the group controllers in response to, or based on, thedata. The data from the one or more group controllers may optionallyinclude data from one or more solar panels, or various types of sensors.

The solar panel array control system may affect operation of the solarpanels, which may include positioning of the solar panels. The controlsystem may affect an orientation of the solar panel. The control systemmay control amount of rotation, rate of rotation, and/or acceleration ofrotation of one or more solar panels. The control system may affect aspatial disposition of the solar panel. The control system may controlan amount of translation, speed of translation, and/or acceleration oftranslation of one or more solar panels. The control system may affectoperation of one or more driving mechanisms for a solar panel array. Thesolar panels may be positioned in response to one or more factors, aspreviously described herein. The solar panel array control system mayaffect other operations of the solar panels, such as turning the solarpanels on or off, operational parameters of converting the solar energyto electrical energy, diagnostics, error detection, calibration, or anyother type of operations of the solar panels.

In one example, a method of optimizing power generation throughout afield of trackers may be provided. Operational data for each grouping(e.g., each row) of solar panels may be provided. Any description hereinof a row may apply to any grouping. The method may include collectingrow-level operational data in aggregate, or piecemeal, to determine theoperational characteristics of one or more rows of trackers. Powergeneration data of each row may be measured to determine if shading isoccurring from one row to the next. The method may include analyzingtotal field power generation to determine if shading specific rows,while further optimizing or adjusting the tilt of other rows forgenerating power, will increase overall field power generation.

Row-level tests may be performed to determine the impact of shading ofone or more rows on the one or more neighboring rows with regard topower generation of the neighboring rows. Row-level tests may beperformed on one or more rows to determine if an optimum orientationassumption yields optimum or increased power generation. Trackingschedules may be updated to optimize or increase power generationthroughout a tracker field or for each individual row. Row-level powergeneration may be monitored and compared with weather station reports todetermine if sun-tracking operations or non-sun-tracking operations willyield greater power generation. Based on the comparison, an operationmay be selected to yield the greater power generation.

These and other examples provided in this paper are intended toillustrate but not necessarily to limit the described implementation. Asused herein, the term “implementation” means an implementation thatserves to illustrate by way of example but not limitation. Thetechniques described in the preceding text and figures can be mixed andmatched as circumstances demand to produce alternative implementations.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. It is not intendedthat the invention be limited by the specific examples provided withinthe specification. While the invention has been described with referenceto the aforementioned specification, the descriptions and illustrationsof the embodiments herein are not meant to be construed in a limitingsense. Numerous variations, changes, and substitutions will now occur tothose skilled in the art without departing from the invention.Furthermore, it shall be understood that all aspects of the inventionare not limited to the specific depictions, configurations or relativeproportions set forth herein which depend upon a variety of conditionsand variables. It should be understood that various alternatives to theembodiments of the invention described herein may be employed inpracticing the invention. It is therefore contemplated that theinvention shall also cover any such alternatives, modifications,variations or equivalents. It is intended that the following claimsdefine the scope of the invention and that methods and structures withinthe scope of these claims and their equivalents be covered thereby.

What is claimed is:
 1. A method for controlling a solar panel assemblyunder solar illumination, the method comprising: determining powergeneration of a first solar panel array comprised in a first row of thesolar panel assembly and power generation of a second solar panel arraycomprised in the solar panel assembly; determining an amount of initialshading on the first solar panel array based on a difference between thepower generation of the first solar panel array and the power generationof the second solar panel array; determining a desired position of atleast one of the first solar panel array and the second solar panelarray based on the amount of the initial shading; and controllingmovement of the at least one of the first solar panel array and thesecond solar panel array into the desired position.
 2. The method ofclaim 1, wherein the second solar panel array is comprised in a secondrow of the solar panel assembly different from the first row.
 3. Themethod of claim 1, wherein the initial shading on the first solar panelarray is interrow shading by the second solar panel array on the firstsolar panel array, and the controlling movement comprises rotating thesecond solar panel array so that the initial shading on the first solarpanel array is reduced, without rotating the first solar panel array. 4.The method of claim 1, wherein the initial shading on the first solarpanel array is interrow shading by the second solar panel array on thefirst solar panel array, and the controlling movement comprises rotatingthe first solar panel array so that initial shading on the first solarpanel array is reduced, without rotating the second solar panel array.5. The method of claim 1, wherein the determining the amount of theinitial shading is further based on current environmental conditionsaround the solar panel assembly.
 6. The method of claim 1, wherein thedetermining the desired position is further based on historical datacomprising power production data of the first solar panel arraythroughout one or more days.
 7. The method of claim 1, wherein thedetermining the desired position is further based on calculatingexpected total power generation of the first solar panel array and thesecond solar panel array.
 8. The method of claim 7, wherein the desiredposition is determined to maintain at least some of the initial shadingon the first solar panel array based on the expected total powergeneration being lower than a current total power generation of thefirst solar panel array and the second solar panel array, and after thecontrolling movement, there is at least some of the initial shadingremaining on first solar panel array.
 9. The method of claim 2, whereinthe first row comprising the first solar panel array comprises a firstrow of solar panels comprising a first solar panel and a second solarpanel, and neighbors the second row comprising the second solar panelarray, the second row comprising a third solar panel and a fourth solarpanel.
 10. The method of claim 2, wherein a first row controllercontrols movement of the first solar panel array and a second rowcontroller controls movement of the second solar panel array, and acentral controller controls the first row controller and the second rowcontroller.
 11. The method of claim 9, wherein the first solar panel isattached to a first solar panel support capable of rotating about afirst rotation axis, the second solar panel is attached to a secondsolar panel support capable of rotating about a second rotation axis,the third solar panel is attached to a third solar panel support capableof rotating about a third rotation axis, the fourth solar panel isattached to a fourth solar panel support capable of rotating about afourth rotation axis, and the controlling movement comprises at leastone of rotating the first solar panel about the first rotation axis intothe desired position, the second solar panel about the second rotationaxis into the desired position, the third solar panel about the thirdrotation axis into the desired position, and the fourth solar panelabout the fourth rotation axis into the desired position.
 12. The methodof claim 11, wherein an articulating joint connects the first solarpanel support and the second solar panel support in such a manner thatthe first rotation axis and the second rotation axis intersect at apivot point within the articulating joint and an orientation of thefirst rotation axis relative to the second rotation axis is variablearound the pivot point.
 13. The method of claim 1, wherein the secondsolar panel array is comprised in the first row.
 14. The method of claim1, wherein the solar panel assembly comprises a third solar panel arrayin the first row of the solar panel assembly, the method furthercomprising: determining power generation of the third solar panel array,wherein the determining the amount of the initial shading on the firstsolar panel array is further based on a difference between the powergeneration of the first solar panel array and the power generation ofthe third solar panel array.
 15. The method of claim 1, wherein thecontrolling movement of the at least one of the first solar panel arrayand the second solar panel array into the desired position comprisesintentionally shading the first solar panel array to increase totalpower generation of the first solar panel array and the second solarpanel array.
 16. The method of claim 1, wherein the first solar panelarray comprises a plurality of solar panels.
 17. The method of claim 1,wherein the controlling movement of the at least one of the first solarpanel array and the second solar panel array into the desired positionreduces the initial shading of the first solar panel array below a shadethreshold level.